INVESTIGADORES
ROSALES Claudio Dario
congresos y reuniones científicas
Título:
Control of a heterogeneous aerial-terrestrial formation using null space approach
Autor/es:
ROSALES CLAUDIO D.; GANDOLFO DANIEL; SARCINELLI MARIO FILHO; CARELLI RICARDO
Lugar:
Córdoba
Reunión:
Congreso; XVI Reunión de Procesamiento de la Información y Control; 2015
Institución organizadora:
Comité Organizador RPIC
Resumen:
This paper proposes a multi-objective strategy, based on the null space control theory in order to guide formation composed by aerial and terrestrial robots. A mathematical representation for a triangular heterogeneous formation is presented considering the constraints imposed by the UGVs into the formation variables. The stability of the controller is analysed using Lyapunov theory and simulation results validate the proposal.